A karma-yogin too has given up sankalpa, since his actions are dedicated to the Lord and are not selfish. He performs actions for God’s happiness and not for any of his sankalpa. Yogarudha is surely devoid of sankalpa. But a karma-yogin too is without a sankalpa and hence is called as the real yogi or the real sannyasin by Lord Krishna at the beginning of the chapter. Hope this helps.
